FR3091256A1 - RECEPTION DEVICE FOR AN UNDERWATER VEHICLE - Google Patents

Abstract

Docking device comprising a docking station (5) capable of being pulled by a load-bearing building at a pulling point (T), the docking station (5) comprising a body (7) comprising a beam (8) extending parallel to a longitudinal axis (x) of the body (7) and a stop making it possible to block a movement of an underwater vehicle (2) relative to the body (7) along the longitudinal axis (x), the dorsal beam (8) extending longitudinally above the underwater vehicle (2) in abutment against the abutment, a center of gravity of the docking station and a center of the hull of the docking station being positioned and the pulling point (T) being able to occupy a reception position such that the reception station (5) has a predetermined negative longitudinal attitude of reception when it is fully submerged and towed by the carrier building in the direction of the longitudinal axis at a predetermined speed. Figure for the abstract: Fig. 2a

Description

Title of the invention: Docking device for an underwater vehicle

The field of the invention is that of devices and methods for handling an autonomous underwater vehicle or AUV (acronym for the English expression "Autonomous Underwater Vehicle") to facilitate its recovery on board of a load-bearing vessel, in rough seas. The carrier vessel is, for example, a surface vessel or a submarine.

In heavy seas, the carrier vessel and Γ AUV to be recovered on board the carrier vessel are driven by large amplitudes unless they are equipped with expensive stabilizers. The movements, linked to the swell, are random.

In addition, the maneuvering capacities are limited: The AUV has little power, especially at the end of the mission because its autonomy is optimized with regard to its energy-carrying capacities. The carrier vessel can maneuver but the maneuvers are heavy and long. The techniques for recovering AUV on board a load-bearing vessel can be classified into 2 main families.

In direct capture and recovery solutions on board the carrier vessel, Γ AUV is "caught" directly from the carrier vessel using a cage, a landing net or a clamp for example, or else the AUV positions itself in a “zone” dedicated to recovery by the load-bearing building near the latter. These solutions are relatively simple to implement in calm seas but the risk level for the equipment, even for the operators is extremely high as soon as the sea is formed.

In prior capture solutions, the AUV is captured by a capture station so that a link is created between the carrier vessel and the AUV, then the capture station and the AUV are recovered on board the load-bearing building. This solution is preferably used in heavy seas, as the risk of collision with the ship is greatly reduced or even canceled.

The critical steps in recovering an AUV are the step of creating a link between the carrier vessel and the AUV and the step of boarding the AUV on board the ship. A lifting tool, of the crane type, is generally used, available on board for various lifting operations. This lifting tool simply allows the AUV to be hauled up to a capture station on board the carrier vessel from the surface of the water and then placed on the platform of the carrier vessel.

We know solutions in which we just establish the physical link between the AUV and the carrier building by means of a flexible link that is attached on top of the AUV to allow, then, its recovery from above by a crane or gantry type device.

A solution of this type is disclosed in patent application FR 2931792, filed by the applicant. This solution comprises a recovery nacelle connected to a ship by a flexible link and comprising a body comprising receiving means having a flared shape capable of receiving the nose of the underwater vehicle, and against which the nose of the AUV comes into abutment during a docking step. The nacelle includes a backbone extending above the AUV after the AUV has docked. The nacelle is intended to be suspended from a cable in a position in which the beam is horizontal to a predetermined depth for the purpose of docking the AUV. The nacelle includes locking means making it possible to make the AUV integral with the beam once the AUV has docked.

This solution avoids the intervention, which can be difficult in heavy weather, of an operator to establish the link between the ship and the autonomous underwater vehicle.

When the nose is housed in the receiving means and in abutment against these means, under the action of the movement imparted by the AUV and the inertia of the nacelle the latter takes a rotational movement in the horizontal plane and the vertical plane, movement which has the effect of aligning the axis of the beam on the axis of the AUV and bringing the beam closer to the wall of the AUV. The plating of the backbone on the wall of the AUV is thus obtained by a dynamic effect of the impact between the AUV and the receiving means. It requires the AUV to be kept in motion at the time of impact. This means that this tackle is transient. The nacelle returns to its horizontal position at the same depth after the impact. However, as the AUV must present a longitudinal attitude (called “pitch” in English terminology) positive in order to be able to abut against the reception means without being hampered by the backbone, the backbone moves away from the AUV after the effect of the shock. The AUV must therefore be blocked as soon as the axes of the AUV and the body are aligned in order to make the AUV integral with the body before the reception device resumes its initial inclination. The probability of blocking failure is high. Furthermore, the plating of the dorsal beam on the vehicle is only obtained if the speed of the AUV is sufficiently high at the time of docking, which obliges the AUV to conserve sufficient energy for docking and therefore to limit the duration of his mission.

Furthermore, the space delimited by the reception means is limited and the AUV must be controlled very precisely so that it can come and position its nose in the reception means which is a non-negligible disadvantage in heavy weather.

An object of the invention is to limit at least one of the aforementioned drawbacks.

To this end, the invention relates to a reception device for accommodating an underwater vehicle, the reception device comprising a reception station capable of being connected to a load-bearing building by a cable so that the carrier building pulls the docking station, fully submerged, from above the docking station, by exerting a pulling force at a pulling point on the docking station, the docking station comprising a body comprising a beam extending longitudinally parallel to a longitudinal axis of the body and a stop, the stop making it possible to block a movement of the underwater vehicle relative to the body along the longitudinal axis in a direction from the rear towards the forward defined by the longitudinal axis, the stop and the beam being arranged relative to each other so that the back beam extends longitudinally above the underwater vehicle in abutment against the stop, a center gravity of the docking station and a docking station hull being positioned and the firing point being able to occupy a firing point reception position defined so that the docking station has a predetermined negative longitudinal reception attitude when it is fully submerged and towed by the carrier vessel in the direction of the longitudinal axis at a predetermined speed.

Advantageously, the docking station has negative buoyancy in the water.

Advantageously, the station is hydrodynamically profiled and configured so that a center of gravity of the docking station and a center of the hull of the docking station are arranged so that a first return torque is exerted. on the fully submerged docking station with an attitude between the negative reception attitude and the zero attitude, when the underwater vehicle is in abutment against the abutment so as to tend to press the back beam against the vehicle submarine by rotation of the docking station with respect to the underwater vehicle in a vertical plane.

Advantageously, the station is hydrodynamically profiled and configured so that a center of gravity of the docking station and a center of the hull of the docking station are arranged so that a first restoring torque is exerted. on the fully submerged docking station with zero attitude, when the underwater vehicle is in abutment against the abutment so as to tend to press the back beam against the underwater vehicle by rotation of the docking station relative to the underwater vehicle in a vertical plane.

Advantageously, the docking station is configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that a first hydrostatic booster couple is exerted on the fully submerged docking station with a zero attitude when the underwater vehicle is in abutment against the abutment so as to tend to press the back beam against the underwater vehicle by rotation of the docking station relative to the underwater vehicle in a vertical plane.

Advantageously, the center of gravity is located behind the stop along the longitudinal axis.

Advantageously, the docking station is configured so that a result of the lift generated by a part of the docking station located behind the stop or behind the reception position of the pull point is oriented towards the low or zero.

Advantageously, the docking station is configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that when the AUV is in abutment against the stop, a second hydrostatic return torque is exerted on the docking station around the longitudinal axis when the attitude of the docking station is zero, so that the docking station has an equilibrium position stable in rotation around the longitudinal axis x with respect to the AUV.

Advantageously, the center of gravity of the docking station is located below the longitudinal axis when the base of the docking station is between the docking dish and the zero dish.

Advantageously, the docking station comprises a set of guide arms distributed around the stop, capable of being in a deployed configuration in which they make it possible to guide the underwater vehicle towards the stop, the set of arms comprising lower arms located below the longitudinal axis when the axis is horizontal and the docking station is in the stable equilibrium position, the lower arms having an average density greater than the arms of the set of arms located above of the axis.

Advantageously, the device comprises the cable, the cable is connected to the body of the docking station so that the pull point advances along the longitudinal axis relative to the body, when the AUV comes into abutment against the stop.

Other characteristics and advantages of the invention will appear on reading the detailed description which follows, given by way of nonlimiting example and with reference to the appended drawings in which:

[Fig. 1] FIG. 1 schematically represents a reception device according to the invention towed by a load-bearing building and approached by an AUV,

[Fig.2a] FIG. 2a schematically shows a side view of a docking station having a negative docking plate, being approached by the AUV and having a set of arms in a deployed configuration,

[Fig.2b] Figure 2b schematically shows a view from behind the docking station in the configuration of Figure 2a,

[Fig.3] Figure 3 shows schematically in perspective a docking phase of the AUV on the docking station 5,

[Fig.4] Figure 4 shows schematically in perspective a plating phase of the docking station on the AUV in abutment against an abutment of the docking station, [fig.5] the FIG. 5 is a diagrammatic view from behind of the docking station pressed against the AUV in abutment against the abutment,

[Fig.6] Figure 6 shown schematically in top view a partial view of Figure 5,

[Fig.7a] FIG. 7a schematically shows a side view of the docking station 5 pressed against the AUV in abutment against the abutment with all of the arms in the folded configuration,

[Fig.7b] FIG. 7b schematically represents a top view of FIG. 7a,

[Fig.7c] FIG. 7c schematically represents an example of locking means,

[Fig.8a] Figure 8a schematically shows handling means, the docking station being in abutment against a support of the handling means, [fig.8b] Figure 8b shows schematically the means of handling after pivoting with respect to FIG. 8a,

[Fig.9a]

[Fig.9b]

[Fig.9c]

[Fig.9d]

FIGS. 9a to 9d schematically represent a series of steps through which the guide device passes according to a first embodiment, to go from the deployed configuration to the folded configuration,

[Fig.lOa]

[Fig.lOb]

[Fig.lOc]

[Fig.lOd]

[Fig.lOe]

Figures 10a to 10e schematically show a series of steps through which passes the guide device according to a second embodiment, to go from the deployed configuration to the folded configuration.

[Fig.l 1] Figure 11 schematically shows an example of connection between the cable and the body of the docking station.

From one figure to another, the same elements are identified by the same references.

In Figure 1, there is shown schematically a reception device 1 according to the invention approached by an autonomous underwater vehicle AUV 2 and towed by a carrier vessel 3 may be a surface ship, that is ie intended to navigate on the surface of the water. This reception device 1 makes it possible to establish a link between the support building 3 and the AUV 2, by means of a cable 4 connecting the reception station 5 to the support building 3.

The cable 4 advantageously belongs to the reception device 1. It can be intended to be connected to the reception station 5.

The receiving device 1 comprises a submersible docking station 5 intended to be mechanically connected to the carrier building 3 so that the carrier building 3 pulls the docking station 5 fully submerged from above the station. Home.

For example, the carrier building 3 is intended to be located at a lesser depth than the docking station 5 but this is not mandatory, the important thing being that the pull point Tb of the cable on the building carrier 3 is at a lesser depth than the pulling point T of the cable on the docking station 5. By pulling point also called towing point or "tow point" in English terminology means the point on which the cable is intended to exert a tensile force.

The docking device 1 comprises, for example, a connecting element 40 connected to the docking station 5 and able to cooperate with the cable 4 so as to allow the docking station 5 to be connected to the carrier building 3 via the cable 4. The cable 4 is then fixed to the connection element 40. The connection element 40 takes up the tensile force L exerted by the cable 4 on the body 7 of the docking station 5.

As shown in Figure 2a, the AUV 2 extends longitudinally along a longitudinal axis xl of the AUV from a rear part 2AR to a nose 2N comprising the front end 2AV of the AUV 2. The AUV 2 is intended to move mainly along the axis xl, in the direction going from the rear part 2AR the rear to the front end 2AV of the underwater vehicle 2.

The nose 2N has a flared shape in the direction of the front end 2AV towards the rear part 2AR. This shape is, for example, convex. It is for example of symmetry of revolution around its longitudinal axis xl. It is, for example, globally hemispherical.

The AUV 2 comprises a central part 2C generally cylindrical with an axis of the cylinder xl connecting the nose 2N to the rear part 2AR. The rear part 2AR includes a 2P thruster intended to propel the AUV 2.

The body 7 of the docking station 5 extends longitudinally along a longitudinal axis x of the body 7 from a rear end AR to a front end AV. The x-axis extends in the direction from the rear AR to the front AV. The body 7 comprises a beam 8 extending longitudinally parallel to the x axis.

In the following text, the terms front, front, rear and behind are defined in the direction of the x axis. The top and bottom are defined along a vertical axis of a terrestrial frame of reference.

The body 7 also includes a stop 9. The beam 8 extends longitudinally from a rear end of the beam 8 towards the stop 9, for example up to the stop 9. The stop 9 is integral with the beam 8 .

As shown in Figure 2b showing a rear view of the docking station 5 in the position of Figure 2a, the stop 9 has, for example, a concave shape so as to be able to receive the nose 2N of the 'AUV. The shape of the stop 9 is, for example, complementary to that of a part of the nose 2N comprising the front end 2AV. This form is not limiting, it can, for example, alternatively have a crown shape, a plate shape perpendicular to the x axis. The stop 9 can extend continuously over its entire surface or it can have at least one opening (it can for example have a grid shape), it can have a fixed shape or be deformable under the effect of the support from AUV.

The stop 9 allows to block the movement of the AUV relative to the body 7 along the x axis passing through the stop 9, in the direction defined by the x axis (that is to say forward AV of the docking station 5), when the nose 2N of the AUV bears against the stop 9, during a docking phase shown in FIG. 3.

The beam 8 moves away from the stop 9 towards the rear end of the body 7 of the docking station 5. In this way, the beam 8 extends opposite the AUV 2 when the AUV 2 is in abutment against the abutment 9. More specifically, the beam 8 extends opposite a part of the AUV 2 situated behind the nose 2N in abutment against the abutment 9. The AUV 2 advances along the beam 8 towards the stop 9 to come into abutment against the stop 9.

In the embodiment of the figures, the beam 8 and the stop 9 are arranged relative to each other so that the beam 8 extends above the AUV 2 when the nose 2N of the 'AUV 2 is in abutment against abutment 9.

The buoyancy acting on a body is the result of the difference between the buoyancy and the weight of the body. This force can be directed from bottom to top (positive buoyancy, weight less than the buoyancy) or from top to bottom (negative buoyancy, weight greater than the buoyancy). The fully submerged docking station 5 advantageously has a negative buoyancy in the liquid in which it evolves, for example, fresh water or sea water. The docking station 5 is then heavy. The negative buoyancy of the docking station has a positive effect on obtaining a plating of the docking station on the AUV which is desired and described in the following text because the station tends to sink. This configuration has the advantage of avoiding having to provide means or a hydrodynamic configuration making it possible to plunge the station, for example means for adjusting the buoyancy of the station or adjustable orientation wings which are expensive means. and binding.

Alternatively, the docking station 5 has zero or positive buoyancy.

It should be noted that the docking station 5 is intended to be towed by the carrier building 3, in the direction from the rear AR towards the front AV, when the AUV 2 approaches the stop . Thus the x axis has a preferred direction which allows the AUV to more easily reach the stop.

Advantageously, the docking station 5 is hydro-dynamically profiled, and has a center of gravity and a center of the hull arranged in a particular way and the pull point T is able to occupy a position defined in a particular way. so that the docking station 5 has a predetermined negative longitudinal attitude of reception (front end AV located at a greater depth than the rear end AR), when the docking station 5 is completely submerged and towed by the load-bearing building 3 from above at a predetermined positive speed in the direction of the longitudinal axis x as shown in FIG. 1, 2a and 2b and 3. The longitudinal attitude of the docking station 5 is the attitude of the body 7 of the docking station on which the cable is pulled.

The longitudinal reception attitude is fixed when the speed is fixed.

The position of the hull center of the fully submerged docking station 5 is defined by the shape of the docking station and the position of its center of gravity is defined by the distribution of the masses of the docking station 5.

In Figures 1, 2a, 2b and 3, we see that with a negative longitudinal attitude, the docking station 5 is in a position favorable to docking which allows the AUV 2 to abut against the stop 9 with great tolerance on the trajectory of the AUV 2.

The risk of impact of the beam 8 (in particular of the rear end) by the AUV 2 during docking is low. This solution avoids the adjustment of ballasts or docking with an ascending speed of the AUV 2 which adds complexity to the docking phase. The proposed solution is therefore robust and economical. The beam also has a guiding function for the AUV 2.

In order to obtain the negative longitudinal attitude of reception, the pulling point T is able to occupy a reception position located behind the point to which the resultant of gravity, of the thrust of Archimedes and hydrodynamic force.

The position of the pull point T relative to the body 7 along the x axis can be fixed or variable as we will see later. In the case of a variable position of the pulling point T relative to the body 7 along the x axis, at least one of its positions along the x axis is defined so as to allow the reception base to be obtained .

Advantageously, the docking station 5 is hydrodynamically profiled so that the result of the lift generated by the part of the docking station located behind the reception position of the pull point is oriented downwards. or is zero, when the fully submerged docking station is traced by a surface building in the direction from rear AR to front AV. The docking station 5 is then also in a position of balance in roll (zero heel). Thus, the negative longitudinal attitude of reception is obtained mainly by hydrostatic forces. Thus, the firing point is advantageously able to occupy a reception position located behind the point on which the result of gravity and Archimedes' thrust is applied.

Preferably, the pull point T is able to occupy a position of the pull point located behind the center of gravity.

Advantageously, the reception device is configured so that the pull point T occupies its reception position when the fully submerged docking station is towed by the carrier building 3 before the AUV 2 comes in. stop against the stop.

When the AUV 2 comes into abutment against the stop 9, as visible in FIG. 3, the beam 8, is pressed against the AUV 2 during a plating phase, as visible in FIG. 4, under the action of a dynamic effect due to the movement printed forward by the AUV in abutment against the abutment 9. This plating is obtained by a rotational movement of the docking station 5 and of the beam 8 in the vertical plane.

The reception device comprises locking means, for example a set of at least one lock, making it possible to make the body 7 integral with the AUV 2 when the beam 8 is in abutment against the AUV 2. The AUV 2 is then connected to the load-bearing building 3 via the cable 4.

Locking takes place during a capture phase subsequent to the plating phase.

When the AUV 2 abuts against the stop 9, the docking station 5 is driven by the AUV 2 forwards, along the x axis, which has the effect of relaxing the cable 4 which no longer pulls on the docking station 5.

Advantageously, the docking station is configured hydrodynamically and has a center of gravity and a center of the hull arranged so that a first return torque is exerted on the fully submerged docking station 5 having the longitudinal attitude. when the AUV 2 is in abutment against a point P of the abutment 9, as shown in FIG. 3, so as to press the dorsal beam 8 against the AUV 2, by rotation of the docking station 5 compared to AUV 2 in a vertical plane defined in the terrestrial frame of reference.

The longitudinal reception plate is advantageously between - 15 ° and -5 °.

Thus, the back beam 8 is pressed against the AUV, as shown in Figure 4, in a durable manner. This durable plating allows sufficient time to join the AUV 2 with the body 7 during a capture phase. The risk of capture of the AUV is therefore limited. This solution makes it possible to obtain a plating of the dorsal beam 8 against the AUV 2 even if the speed of the AUV 2 is low at the time of docking, it suffices that the AUV 2 goes slightly faster than the station 5 at the time of docking so as to drive the docking station 5 and relax the cable 4. Once the cable 4 is relaxed, the first hydrostatic couple ensures the plating of the backbone on the AUV 2. This solution is advantageous since the AUV 2 generally has a limited energy reserve at the end of the mission, at the time of docking. A maximum amount of energy can thus be used during the mission, the duration of which can thus be increased.

The lasting plating effect is obtained when the base of the AUV 2 is greater than that of the docking station 5. The plating effect is therefore obtained in particular when the AUV 2 comes into contact with the docking station 5 with its longitudinal x horizontal axis, for example.

Advantageously, the docking station is configured so as to undergo a first return torque when its longitudinal attitude is zero (horizontal x axis) and the beam 8 is in abutment against the AUV 2 so as to tend to flatten beam 8 on the AUV. This provides a durable tackle.

Once the AUV is in abutment against the stop, the balance of the moments applied to the docking station 5 is no longer made with respect to the pull point but is made with respect to the point P of the stop 9, on which the AUV 2 is in abutment. The first restoring torque is therefore exerted around a horizontal axis of rotation r represented in FIG. 2b passing through the stop 9, for example by the support point P of the AUV 2 on the stop 9 in the direction shown in Figure 3. This point P is a point of the stop.

The point P is for example that on which is intended to be exerted the result of the force of support of the vehicle on the stop 9 when the axes x and xl are parallel.

The first return torque tends to rotate the beam 8 around the axis of rotation r so as to lower the rear end AR relative to the stop 9.

In order to obtain the return torque ensuring lasting plating, the pulling point reception position T is advantageously behind the stop 9, preferably behind the point P. This solution is simple and allows d '' avoid having to provide complex means using hydrodynamics to obtain the first return torque.

Advantageously, the docking station is hydrodynamically profiled so that the effect of the hydrodynamic forces on the plating is negligible, that is to say that the result of the moments of the hydrodynamic forces relative to the stop is substantially zero. when the docking station has the longitudinal reception trim and / or a zero trim. The first return torque is then substantially a first hydrostatic return couple. In these cases, the durable plating is then independent of the speed (difference between the horizontal speed of the AUV and that at which the docking station is towed when the AUV comes to bear against the stop 9) and is obtained even when the speed is high.

A negligible hydrodynamic effect can, for example, be obtained by providing a set of at least one rear tail arranged near the rear AR of the station configured to generate a downward lift. The tail must be dimensioned for this purpose according to the rest of the docking station.

In all cases, the docking station advantageously has a center of gravity and a center of the hull arranged so that a first hydrostatic return torque is exerted on the fully submerged docking station 5 presenting the trim longitudinal reception when the AUV 2 is in abutment against the abutment 9, as shown in FIG. 3, so as to press the dorsal beam 8 against the AUV 2, by rotation of the docking station 5 relative AUV 2 in a vertical plane defined in the terrestrial frame of reference. This ensures long-lasting tackle at least at low speed.

The first hydrostatic return torque experienced by the docking station 5 around the axis of rotation r passing through P is the sum of the torque linked to the gravity exerted on the docking station 5 around the same axis and of the torque linked to the Archimedes thrust exerted on the docking station 5 around the same axis. Thus, in order to obtain the plating effect, the shape of the docking station 5 and the distribution of the masses of this docking station 5 are defined so that the positions of the center of gravity and the center of the hull of the docking station 5 induces this first hydrostatic booster couple. The mass of the dock 5 generates a downward force applied to the center of gravity and the volume generates an upward force (Archimedes' thrust) applied to the center of the hull. This solution has the advantage of being simple, safe and inexpensive. Being passive, this solution does not require a variable density balancing device of the ballast type to ensure plating against the AUV.

Advantageously, the center of gravity and the center of the hull of the body 7 of the fully submerged docking station 5 occupy fixed positions.

One of the possibilities for obtaining the first hydrostatic torque which ensures the desired plating, is to configure the docking station 5 so that the center of gravity of the docking station 5, and possibly that of the body 7, is arranged behind the stop 9, or behind point P.

The position of the center of the hull of the docking station 5, and possibly that of the body 7, can be placed in front of the stop 9, or in front of the point P, along the longitudinal axis x of the station d 5. However, the position of the center of the hull has a significant effect only if the docking station is light. When the docking station is very heavy, we can consider a center of hull located behind the stop or even behind the center of gravity.

Advantageously, the center of gravity and hull are arranged so that the docking station always undergoes the first hydrostatic return torque when its longitudinal attitude is zero (horizontal x axis) and the beam 8 is in abutment against the 'AUV 2.

It should be noted that the first hydrostatic return torque is exerted on the docking station when the cable does not exert traction on the docking station 5.

It should be noted that the first booster couple or the first hydrostatic booster couple is exerted on the docking station when the cable does not exert traction on the docking station 5. The docking station 5 is then pushed forward by the AUV. The cable is loose. The docking station 5 can undergo but no longer necessarily undergoes this first booster couple or this first hydrostatic booster couple once the cable tows the docking station 5 again.

As shown in Figures 3 and 5, the body 7, may include a tail unit 10 located behind the stop 9. The tail unit 10 is disposed near the rear end of the beam 8 or at the end of the beam 8 , near the rear AR of the body 7. This tail is configured to generate a downward lift. It is then possible to play on the density of the empennage to play on the position of the center of gravity of the station.

In the nonlimiting embodiments of the figures, the body 7 of the docking station 5 comprises a tail unit 10 in inverted V comprising two tail units 10a, 10b each forming one of the branches of the inverted V.

Advantageously but not necessarily, the center of gravity and the center of the hull of the docking station 5 or of the body 7 are arranged so that the docking station 5 has a positive longitudinal attitude at equilibrium when it is subject only to Archimedes' push and gravity. This helps promote tackling.

As a variant, the longitudinal attitude at equilibrium is, for example, zero.

FIG. 5 represents, diagrammatically in view from behind the docking station and the AUV 2 in the configuration of FIG. 4. In this configuration, the AUV 2 is in abutment against the abutment 9, its longitudinal axis xl being confused with the x axis. The longitudinal axis x passes through point P. It is intended to bring the reaction of the stop 9 to the support of the AUV 2 on the stop 9.

Advantageously, the docking station 5 is configured so that its center of gravity and its center of the hull are arranged so that when the AUV 2 is in abutment against the abutment 9 and the dorsal beam 8 is pressed against AUV 2, the docking station 5 being completely submerged, a second hydrostatic return torque is exerted on the docking station 5 around the longitudinal axis x when the longitudinal axis x is horizontal so that the station reception 5 has a stable equilibrium position in rotation about the longitudinal axis x relative to the AUV 2 as shown in Figures 4 and 5. The second hydrostatic return couple prevents the tilting of the station reception 5 on the static side, that is to say prevents the rotation of the docking station 5 relative to the AUV 2 around the longitudinal axis x. The position of the docking station 5 shown in FIGS. 4 and 5 is stable in rotation around the longitudinal axis x.

Advantageously, the docking station 5 is configured so that its center of gravity and its center of the hull are arranged so that when the AUV 2 is in abutment against the abutment 9 and the docking station 5 completely submerged has a zero attitude and preferably when the attitude is between a attitude between the reception attitude and a zero attitude, a second hydrostatic booster is exerted on the reception station 5 around the longitudinal axis x so that the docking station 5 has a stable equilibrium position in rotation about the longitudinal axis x relative to the AUV 2 which makes it possible to avoid tilting the docking station 5 before 'she does not come to press on the AUV.

Advantageously, the stable equilibrium position is the roll equilibrium position.

This position is for example a zero heeling position in which a vertical plane comprises the longitudinal axis x which is the roll axis and constitutes an axis of symmetry of the docking station 5. In the position of balance in roll, the center of gravity and the center of hull belong to the same vertical plane containing the axis x.

Alternatively, the docking station 5 has a non-zero heel of a few degrees in the position of balance in roll.

This roll stability makes it easier to recover the AUV because the station also occupies this stable position in roll before the AUV docked.

In the non-limiting embodiment of FIG. 1, the vertical plane is a plane of symmetry of the inverted V tail which is astride the AUV when the docking station is pressed against the AUV as visible in Figure 5.

To avoid the tilting of the docking station 5 to the side, the center of gravity of the docking station 5 is offset vertically with respect to the center of the hull of the docking station 5, when the beam 8 is pressed against the AUV in abutment against the stop 9 and the longitudinal attitude of the docking station is the zero attitude and preferably when it is between the reception attitude and the zero attitude.

To this end, the center of gravity is located below the center of the hull when the attitude of the docking station is zero and preferably when it is between the attitude of the docking station and the zero attitude or at least when the attitude is zero. This achieves the roll balance position when the cable is soft.

In one embodiment of the invention, the center of gravity is located below the x axis, when the base of the docking station is between the reception base and the zero base or at least when the plate is zero. This solution is simple, it avoids having to provide a very high hull center. The center of the hull can even be also under the x axis (especially for a heavy station configuration).

For this purpose, the docking station 5 (or else the body 7 of the docking station) comprises an upper part PS situated above a horizontal plane H containing the horizontal x axis and a part lower PI located below the horizontal plane when the docking station 5 is in its stable equilibrium position. The mass distribution of the docking station 5 is chosen so that the mass of the lower part PI is greater than that of the upper part PS. So the center of gravity is under the x axis. The shape of the docking station is defined so that the center of the hull is located above the center of gravity. The volume of liquid displaced by the upper part PS can for example be equal to the volume of liquid displaced by the lower part.

In the nonlimiting embodiment of the figures, each individual tail 10a, 10b extends from the beam 8 to a lower end of the individual tail 10a, 10b located in the lower part PI of the station 5, c ' that is to say deeper than the x axis when the longitudinal axis is horizontal and the support structure 5 is in the stable equilibrium position. This configuration lowers the position of the center of gravity. It is possible to play on the mass of the empennages to place the center of gravity at the lowest. We can for example consider having weights at the lower end of each individual tail.

The reception device according to the invention allows a simple, passive and robust capture process.

In a variant, the beam 8 and the stop 9 are arranged relative to each other so that the dorsal beam extends below the AUV 2 when the nose of the AUV is in abutment against abutment 9.

Advantageously, as visible in FIG. 2a, the pulling point T is able to move along the longitudinal axis (x) relative to the body 7.

The mobility of the firing point makes it possible to adapt the attitude of the docking station as a function of its speed, its condition (with or without AUV) or the phase of the mission (Capture of the AUV or recovery from the station on board the ship). This minimizes the impact of the vessel's movements due to the swell by releasing or resuming the tension in the cable.

For example, as shown in FIG. 11, the pull point T is able to slide along the axis x relative to the body 7.

The cable is for example fixed to a stirrup 40 mounted to pivot about an axis of rotation y relative to the body 7, the axis of rotation y being slidably mounted relative to the body 7 along an axis x2 parallel to l 'longitudinal axis x. To this end, the body 7 comprises for example a guide groove 41 extending longitudinally parallel to the axis x and receiving the axis of rotation y.

An actuator, for example a hydraulic cylinder, an electric cylinder or a rack system can allow the y-axis to slide relative to the body 7. Note that, except in very fast dynamics, the tensile force is always oriented in the same direction along the x axis. A single acting cylinder may be sufficient. A double-acting cylinder can be useful if rapid control is desired.

Advantageously, the cable 4 is connected to the body 7 of the docking station 5 so that the pulling point T advances along the axis x relative to the body 7, when the AUV 2 comes into abutment against the stop 9, for example under the effect of the support of the AUV on the stop 9. In other words, the adjustment means are configured to advance the pull point along the x axis relative to the body 7, when the AUV 2 abuts against the stop 9. This makes it possible to accelerate the plating of the beam 8 on the AUV 2 and to minimize the power requirement of the AUV.

Advantageously, the cable 4 is connected to the body 7 of the docking station 5 so that the pull point T is positioned along the x axis relative to the body 7 in a position for receiving the point draw T such that the docking station 5 has a negative longitudinal attitude, when the fully submerged docking station is towed by the carrier building before the AUV comes into abutment against the AUV (before docking).

This reception position of the pull point is advantageously behind the stop 9.

The reception device 1 comprises adjustment means making it possible to adjust the position of the draw point T relative to the body 7 along the x axis. The adjustment means can be passive (without control means of the program type) or active (remotely controlled by an operator or by station control means).

The passive adjustment means may include a spring located behind the pull point, linked to the beam and linked to the pull point which is in a slide. The position of the pull point, compressed spring is maintained by a trigger which linked to the stop 9 which is triggered by the AUV pushing on the stop 9: the spring then relaxes and pushes the pull point forward.

Advantageously, as in Figure 6, the docking station 5 comprises a guide device 50 comprising a set E of guide arms 51 arranged around the stop. The set E of arms 51 able to be in a deployed configuration shown in FIGS. 2a, 2b, 3, 6a and 6b in which it makes it possible to guide the AUV 2 towards the stop 9. The deployed configuration of the arms is stable in the absence of AUV resting on the guide structure.

In the deployed configuration, the set of arms delimits a first volume capable of receiving the nose 2N of the AUV 2 and flaring away from the stop 9 along the x axis towards the rear so to allow the AUV 2 to be guided towards the stop 9 to pass from the configuration of FIG. 1 to that of FIG. 3 during the docking phase during which the set E of arms is in the deployed configuration.

As shown in Figures 2a, 2b and 3, the arms 51 are arranged around the stop 9 and distributed angularly around the axis x. Each arm 51 of the set E of arms has a distal end ED and a proximal end EP referenced on a single arm in FIG. 6 for clarity. Each arm 51 of the arm assembly E is connected to the body 7 by its proximal end EP.

In the deployed configuration visible in FIG. 6, the distal end ED of each arm 51 of the assembly E is located behind the proximal end EP. In other words, the distal end ED is closer to the rear end AR of the body 7 than a proximal end EP of the arm by which the arm is connected to the body 7.

The set of arms E can be fixed or include a single stable configuration which is the deployed configuration.

Advantageously, the set of arms 51 is able to be in a folded configuration as visible in FIGS. 7a and 7b. The arms advantageously pass from the deployed configuration to the folded configuration, during a folding phase of the assembly E implemented after the docking phase and preferably after the tackling and / or capture phase of the AUV 2.

As shown in Figures 7a and 7b, in the folded configuration, each distal end ED is closer to the x axis than in the deployed configuration. In other words, when the arms are folded, the distal end ED of each arm 51 approaches the axis x from its position in the deployed configuration to its position in the folded configuration.

The folded configuration makes it possible to make the docking station 5 more compact outside of the docking and capture phases so as not to clutter the deck of the carrier ship. It makes it possible to provide arms of considerable length which can thus delimit, in the deployed configuration, a first volume of significant size, in a so-called transverse plane, perpendicular to the x axis, which ensures guidance of the AUV towards the stop. 9 with great tolerance on the trajectory of the AUV. This also makes it possible to guide the AUV over a significant distance along the x axis.

The reception device comprises locking means able to cooperate with the AUV to make the AUV integral with the body 7 of the reception structure 5 during a capture phase. Advantageously, the locking means are configured to allow the body 7 to be secured to the AUV 2 when the arms are in the deployed configuration and / or when the arms are in the folded configuration.

These locking means can be present even in the absence of the guide device.

The locking means may comprise at least one latch 43, an example of which is shown in FIG. 7c, comprising a hook 44 capable of being in a retracted position inside the body 7, for example inside the beam 8, and in an extended position shown in FIG. 7c, in which it is able to penetrate into the body of the AUV so as to cooperate with a fastener 45 of the AUV in order to keep the body of the station fixed relative to the AUV body. This type of locking means is in no way limiting. The docking station can for example include arms capable of coming to surround the body of the AUV so as to block the body of the AUV with respect to the body of the docking station 5.

The receiving device is advantageously part of a recovery device 100 comprising handling means 102 shown in Figure 8a comprising means for winding the cable 4, such as a winch, during a winding phase subsequent to the capture until the capture station 5 comes to bear on a support 101 of the handling means 102. The support 101 makes it possible to block the translational movement of the capture station and the AUV secured to the body of the capture station upwards. It can also help prevent the vehicle from pivoting about a vertical axis. The handling means 102 further comprise displacement means 103 making it possible to move the docking station 5 linked to the AUV and bearing on the support 101 in order to deposit it on a support of the vehicle 104. The displacement means 103 include for example a crane to which the support 101 is suspended comprising articulated arms. The displacement means comprise drive means making it possible to pivot an arm 105 of the crane, on which the support 101 is suspended, about a horizontal axis to bring the AUV linked to the capture station 5 opposite the support , as shown in Figure 8b, and means for lowering the support 101 so as to come and place the AUV linked to the capture station on a support 106 of the AUV. In the nonlimiting embodiment of FIG. 8b, the support 106 has a support surface 107 of shape substantially complementary to the central part 2C of the AUV 2, that is to say of the shape of a portion of cylinder .

In the folded configuration, the set E of arms 51 delimits a reduced size in the transverse plane which makes it easier to handle and store the capture station on board the carrier ship 3.

Folding the set E of arms 51 after the capture of the AUV 2 makes it easier to handle. Indeed, it is possible to place the AUV 2 on a vehicle support having a simple shape complementary to that of the AUV 2, for example a shape of a portion of cylinder by resting all or a large part of the length of the cylindrical part of the AUV on the vehicle support, while limiting the risk of tilting of the AUV likely to be induced by the docking station and thus improving its stability. In addition, it is possible to come and place the AUV on its support directly with the crane or gantry having lifted the reception device. It is not necessary to separate, beforehand, the AUV from the body 7 of the docking station 5. The handling is thus greatly simplified compared to a cage or a landing net which requires a tedious step of extraction of the 'AUV of the reception device before placing it on its support.

The folding of the arms is particularly advantageous in the case of a beam 8 extending over the top of the AUV but may be advantageous in the case of a beam extending over the bottom of the AUV.

Advantageously, each arm 51 of the set E of arms or at least one arm of the set of arms is folded against the body 7 in the folded configuration. This configuration ensures good compactness in the folded configuration and improves its stability of the AUV on its support.

Advantageously, each arm 51 of the set E of arms or at least one arm extends longitudinally substantially parallel to the longitudinal axis x in the folded configuration. In other words, the set of arms delimits a volume having substantially the shape of a cylinder portion in the folded configuration. This configuration ensures good compactness in the folded configuration and further improves the stability of the AUV on its support.

In the nonlimiting example of FIGS. 6 to 7a, 7b, the distal ends ED of the arms 51 are free.

In the folded configuration, each distal end ED is in front of the position it occupies in the deployed configuration. In other words, during the folding of the arms the distal end ED of each arm 51 advances, along the x axis and in the direction of the x axis, from its position in the deployed configuration to its position in the folded configuration .

Thus, the length, along the x axis, of the volume delimited by the set of arms E along the x axis behind the stop 9 is reduced or canceled if the arms 51 extend completely in front of the stop 9 in the folded configuration. This particular kinematics of the arms 51 makes it possible to at least partially release the periphery of the AUV 2 after the capture, by the folding of all of the arms.

This configuration is particularly advantageous in the case where the beam is arranged relative to the stop so as to be intended to be located above the AUV in abutment against the stop 9. It makes it possible to reduce or avoid the masking of a sensor or an antenna arranged on the belly or the flanks of the AUV, for example, a sonar intended for imaging the seabed. The AUV 2 can therefore continue its mission, for example a sonar imaging mission, even after docking. This characteristic is of interest when the AUV is made integral with the docking station 5 only temporarily, for example, for the purpose of recharging its batteries and / or recovering data.

This reasoning also applies in the case of a beam 8 arranged relative to the stop 9 so as to be intended to be below the AUV in abutment against the stop, for example to avoid the masking of sensors or antennas located on the top or on the sides of the AUV.

Two embodiments of guide devices are shown in Figures 9a to 9d and 10a to 10e.

In a first embodiment shown in FIGS. 9a to 9d, each arm 51 is slidably mounted relative to the stop 9 along the axis x so that the arm 51 undergoes a movement of translation towards the front, relative to the stop 9, during the transition from the deployed configuration of FIG. 9a to the folded configuration of FIG. 9d passing through the successive intermediate configurations of the successive figures 9b and 9c.

Thus, each arm 51, as a whole, undergoes a translational movement forward along the axis x, relative to the body 7, during the transition from the deployed configuration to the folded configuration. The distal end ED of each arm 51 remains behind its proximal end EP during the transition from the deployed configuration to the folded configuration

To this end, the proximal end EP of the arm 51 is pivotally mounted on a slide 52 mounted to slide relative to the stop 9 along the axis x so that the distal end ED is able to approach the axis x, by rotation with respect to the slide 52, when the slide 52 advances along the axis x during the transition from the deployed configuration of FIG. 9a to the folded configuration of FIG. 9d.

So that the distal end ED approaches the x axis by rotation relative to the slide 52, when the slide 52 advances along the x axis during the transition from the deployed configuration to the folded configuration, the device guidance advantageously comprises drive or coupling means making it possible to simultaneously generate, with a movement of the slide 52 towards the front AV, the rotation of the arm around the axis of the pivot link connecting the proximal end EP to the slide 52 in a direction defined so that the distal end ED of the arm 51 approaches the axis x and vice versa.

In the particular example of FIGS. 9a to 9d, the proximal end EP of each arm 51 is mounted on a slide 52 mounted to slide relative to the body 7 of the docking station along the longitudinal axis x. The proximal end EP of each arm 51 is mounted on the slider 52 by a pivot link fixed with respect to the slider 52 and with the axis of rotation of the pivot link substantially tangential to the x axis. The drive means comprise forks 53 in the form of link arms distributed angularly around the longitudinal axis x. Each fork 53 is connected to one of the arms 51. A first longitudinal end E1 of the fork 53 coupled to an arm 51 is connected to the arm 51 by a first pivot connection with an axis substantially tangential to the x axis disposed between the end proximal EP and the distal end ED of the arm 51. A second longitudinal end E2 of the fork 53 is connected to the body 7 by a second pivot connection with an axis substantially tangential to the x axis. The second end E2 of the fork is disposed behind the slide 52 along the axis x. In this way, when the set E of arms 51 is in the deployed configuration, a translation of the slider 52 relative to the body 7 towards the front AV along the axis x causes, by the articulations of the forks to the arms, a translation of the arm 51 forwards combined with bringing the distal ends of each arm 51 closer to the whole of the x-axis.

In another embodiment shown in figs 10a to 10e, each arm 151 is connected to the body 7 by its proximal end EPb. The proximal end EPb is fixed in translation along the longitudinal axis x relative to the body 7.

The proximal end EPb of the arm 151 is pivotally mounted relative to the stop 9 so that the distal end EDb is able to approach the x axis and advance along the x axis, by rotation of the proximal end EPb relative to the stop 9 when passing from the deployed configuration of FIG. 10a to the folded configuration of FIG. 10f.

The proximal end EPb of each arm 151 is connected to the body 7 by a pivot link with an axis of rotation fixed relative to the body 7 and arranged so that the rotation of the arm 151 around this axis of rotation causes passage the distal end EDb from its position in the deployed configuration, in which the EDb end is behind the proximal end EPb and at a first distance from the x axis, to its position in the folded configuration in which it is in front of the distal end EDb at a second distance from the x axis less than the first distance. The proximal end EPb is located between the position of the distal end EDb in the deployed configuration and the position of the distal end EDb in the folded configuration along the x axis. In other words, during the transition from the deployed configuration to the folded configuration and vice versa, the arms 151 are turned over. The set E 'of arms 151 passes from the deployed configuration, in which the arms 151 define a volume flaring towards the rear of the body 7 to an intermediate configuration in which they delimit a volume flaring towards the front AV , the distal ends EDb of the arms 151 then approaching the axis x to reach the folded configuration.

The guide device comprises drive means for ensuring the folding of the arm assembly from its deployed configuration and vice versa.

The axis of rotation is, for example, tangential to the x axis.

In the particular example of Figures 10a to 10e, the drive means comprise a slider 152 slidably mounted on the body 7 along the longitudinal axis x and forks 153, in the form of distributed link arms angu lairement around the x axis. Each fork is connected to one of the arms. A first longitudinal end Elb of the fork 153 is connected to one of the arms 151 by a pivot link of axis substantially tangential to the x axis disposed between the proximal end EPb and the distal end EDb of the arm 151. A second end longitudinal E2b of the fork 153 is connected to the slide 152 by a pivot connection of substantially tangential axis the axis x. The slider 152 is disposed in front of the proximal end EPb of the arm 151 along the axis x. In this way, when the set of arms is in the deployed configuration, a translation of the slide 152 towards the front of the body 7 causes, by the articulations of the fork 153 to the slide 152 and to the arms 151, the rotation of the arms around of their respective axes of rotation relative to the body 7 from their respective positions in the folded configuration to their respective positions in the folded configuration.

In the two embodiments, the drive means comprise an actuator configured to drive the nut 52 or 152 in translation along the axis x relative to the body 7 so as to pass all of the arms of the configuration folded back to the deployed configuration. The actuator is for example of the hydraulic, electric cylinder type or of the torque motor type.

In the two embodiments, the slide 52, 152 has, for example, substantially the shape of a circular ring arranged in a plane perpendicular to the x axis, the x axis passing through the center of the ring , the proximal ends EP, EPb are for example distributed on the circle perpendicular to the x axis and centered on the x axis. The forks 53, 153 all have the same length and the first ends of the forks are distributed on a circle perpendicular to the x axis passing through the center of the circle and the second ends of the forks are distributed on another circle perpendicular to the axis x passing through the center of the circle. The arms all have the same length. As a variant, the arms and / or forks may have different lengths, the proximal ends and forks are not necessarily distributed over circles, the nut does not necessarily have the shape of a ring and the axes of the pivot links are not not necessarily tangential to the x axis. Different arms can also be connected differently to the body 7 and driven by different drive means.

Advantageously, the body 7 comprises slots E visible in Figures 10c and lOd extending longitudinally parallel to the axis x in which are housed the distal ends EDb of the arms, 151 in the folded configuration. This makes it possible to promote the compactness of the assembly, to improve the balance of the AUV on a support of complementary shape and this makes it possible to protect the arms 151 from impact during the recovery of the guide device by a device of the type crane and when installing the AUV on a support. Slots may also be present in the embodiment of FIGS. 9a to 9d.

Advantageously, the arms 151 are entirely housed in the slots in the folded configuration.

As a variant to the two embodiments described above, the arms are, for example, telescopic so as to advance the distal ends of the arms when passing from the deployed configuration to the folded configuration.

Advantageously, the arms 51, 151 are mounted on the body 7 so as to extend essentially in front of the stop 9 in the folded configuration of FIG. 9d, 10e.

Advantageously, the arms 51, 151 extend essentially behind the stop 9 in the deployed configuration of FIG. 9a, 10a.

Advantageously, as visible in FIG. 5, the set E of arms 51 comprises a set of at least one lower arm BI belonging to the lower part PI in the deployed configuration and having a density greater than 1 kg / m3 . This characteristic makes it possible to limit the risks of tilting the docking station.

In the nonlimiting case where the set of arms 51 comprises a set of at least one upper arm BS belonging to the upper part PS in the deployed configuration, the average density of each arm of the set of at at least one lower arm is greater than the average density of each arm of the set of at least one upper arm. This feature further limits the risk of tipping the docking station.

The invention also relates to an underwater assembly comprising the AUV and the reception device.

The docking station advantageously has a length similar to or greater than that of the AUV.

The mass of the AUV is preferably higher than that of the docking station.

Claims (1)

Claims [Claim 1] Reception device comprising a docking station (5) able to be connected to a load-bearing building (3) by a cable (4) so that the load-bearing building (3) pulls the docking station (5) completely immersed, from above the docking station (5), by exerting a traction force at a pull point (T) on the docking station (5), the docking station (5) comprising a body (7) comprising a beam (8) extending longitudinally parallel to a longitudinal axis (x) of the body (7) and a stop (9), the stop (9) making it possible to block a movement of the underwater vehicle (2 ) relative to the body (7) along the longitudinal axis (x) in a direction from the rear to the front defined by the longitudinal axis (x), the stop (9) and the beam (8) being arranged relative to each other so that the backbone (8) extends longitudinally above the underwater vehicle (2) in abutment against the abutment (9), a center of gravity of the station d reception and a hull center of the statio n reception being positioned and the pull point (T) being able to occupy a reception position of the pull point (T) defined so that the reception station (5) has a negative negative longitudinal attitude predetermined when fully submerged and towed by the carrier building (3) in the direction of the longitudinal axis at a predetermined speed. [Claim 2] Docking device according to the preceding claim, in which the docking station (5) has negative buoyancy in water. [Claim 3] Reception device according to the preceding claim, in which the station is hydrodynamically profiled and configured so that a center of gravity of the reception station (5) and a center of the hull of the reception station (5) are arranged so that a first return torque is exerted on the fully submerged docking station (5) with a trim between the negative docking trim and the zero trim, when the underwater vehicle (2) is in abutment against the abutment (9) so as to tend to press the dorsal beam (8) against the underwater vehicle (2) by rotation of the docking station relative to the underwater vehicle in a vertical plane. [Claim 4] Docking device according to any one of the preceding claims, in which the docking station is configured so that a center of gravity of the docking station (5) and a center of hull of the docking station (5) are arranged so that a first hydrostatic return torque is exerted on the docking station (5) completely submerged with zero trim when the underwater vehicle (2) abuts against the stop (9) so as to tend to press the back beam (8) against the underwater vehicle (2) by rotation of the station d reception in relation to the underwater vehicle in a vertical plane. [Claim 5] Reception device according to the preceding claim, in which the center of gravity is located behind the stop (9) along the longitudinal axis (x). [Claim 6] Docking device according to any one of the preceding claims, in which the docking station (5) is configured so that a result of the lift generated by a part of the docking station situated behind the stop or behind the home position of the firing point is oriented downwards or is zero. [Claim 7] Docking device according to any one of the preceding claims, in which the docking station (5) is configured so that a center of gravity of the docking station and a hull center of the docking station are arranged so that when the underwater vehicle (2) abuts against the stop (9), a second hydrostatic return torque is exerted on the docking station (5) around the longitudinal axis (x) when the 'attitude of the docking station is zero, so that the docking station (5) has a stable equilibrium position in rotation about the longitudinal axis x relative to the underwater vehicle (2). [Claim 8] Reception device according to the preceding claim, in which the center of gravity of the reception station (5) is located below the longitudinal axis (x) when the attitude of the reception station is between the welcome plate and the zero plate. [Claim 9] Reception device according to any one of Claims 7 to 8, in which the reception station (5) comprises a set of guide arms distributed around the stop, capable of being in a deployed configuration in which they allow guide the underwater vehicle to the stop (9), the arm assembly comprising lower arms located under the longitudinal axis (x) when the axis (x) is horizontal and the docking station is in the position of stable equilibrium, the lower arms having an average density greater than the arms of the set of arms situated above the axis (x). [Claim 10] Reception device according to any one of the preceding claims, comprising the cable, the cable is connected to the body (7) of the docking station (5) so that the pull point (T) advances along the 'Ion axis- gitudinal (x) relative to the body (7), when the underwater vehicle (2) abuts against the stop (9).